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Robot Dynamics Lecture Notes - ETH Z

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Robot Dynamics Lecture NotesRobotic Systems Lab, ETH ZurichHS 2017Contents1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . of Positions.

base and floating base systems. The former category includes all kinds of robotic ma-chines that are rigidly bolted to the ground. The classical example are industrial robot arms. Such systems mostly feature an actuator in every joint, which means that the degree of freedom (DOF) is equal to the number of actuators in the systems. The latter

  Lecture, Notes, System, Industrial, Dynamics, Robot, Industrial robots, Robot dynamics lecture notes

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